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vincentlu

22 小时以前 fd750ac26930d14ed1f9a834c1da188f4f1475ac

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 zy-acs-manager/src/main/java/com/zy/acs/manager/manager/service/impl/MissionServiceImpl.java

@@ -4,12 +4,10 @@
import com.zy.acs.framework.common.Cools;
import com.zy.acs.framework.exception.CoolException;
import com.zy.acs.manager.common.exception.BusinessException;
import com.zy.acs.manager.core.service.MapService;
import com.zy.acs.manager.manager.controller.result.MissionVo;
import com.zy.acs.manager.manager.entity.*;
import com.zy.acs.manager.manager.enums.ActionStsType;
import com.zy.acs.manager.manager.enums.BusStsType;
import com.zy.acs.manager.manager.enums.SegmentStateType;
import com.zy.acs.manager.manager.enums.TaskStsType;
import com.zy.acs.manager.manager.enums.*;
import com.zy.acs.manager.manager.service.*;
import org.apache.ibatis.session.SqlSession;
import org.springframework.beans.factory.annotation.Autowired;
@@ -134,13 +132,83 @@
        if (Cools.isEmpty(actionList)) {
            return Boolean.FALSE;
        }
        List<Long> actionIds = actionList.stream().map(Action::getId).collect(Collectors.toList());
        Date now = new Date();

        String actionGroupId = actionService.getById(actionIds.get(0)).getGroupId();
        List<Long> actionIds = actionList.stream().map(Action::getId).collect(Collectors.toList());
        Action firstAction = actionService.getById(actionIds.get(0));
        if (firstAction == null) {
            return Boolean.FALSE;
        }

        String actionGroupId = firstAction.getGroupId();
        actionService.updateStsByGroupId(actionGroupId, ActionStsType.EXPIRED.val());

        // if firstAction is not turn, insert a new turn action
        Action prependTurn = null;
        if (!firstAction.getActionType().equals(ActionTypeType.TurnCorner.val())) {
            String codeData = firstAction.getCode();
            Code code = codeService.getCacheByData(codeData);
            AgvDetail agvDetail = agvDetailService.selectMajorByAgvId(firstAction.getAgvId());
            Double lastDirection = MapService.mapToNearest(agvDetail.getAgvAngle());

            List<Action> fullActionList = actionService.list(
                    new LambdaQueryWrapper<Action>()
                            .eq(Action::getGroupId, actionGroupId)
                            .select(Action::getId, Action::getActionType, Action::getPriority)
                            .orderByDesc(Action::getPriority)
            );

            int idx = -1;
            for (int k = 0; k < fullActionList.size(); k++) {
                if (fullActionList.get(k).getId().equals(firstAction.getId())) {
                    idx = k;
                    break;
                }
            }

            if (idx > 0) {
                Long turnActionId = null;
                // find out turn action
                for (int k = idx - 1; k >= 0; k--) {
                    Action a = fullActionList.get(k);
                    if (a.getActionType().equals(ActionTypeType.TurnCorner.val())) {
                        turnActionId = a.getId();
                        break;
                    }
                }


                if (null != turnActionId) {
                    Action turn = actionService.getById(turnActionId);
                    Double direction = Double.parseDouble(turn.getParams());
                    // new turn action
                    prependTurn = new Action(
                            null,    // 编号
                            firstAction.getBusId(),    // 总线
                            firstAction.getTaskId(),    // 任务
                            null,    // 动作号
                            null,    // 优先级
                            ActionTypeType.TurnCorner.desc,    // 名称
                            (double) MapService.calcSpinDirection(code, lastDirection, direction).val,    // 属性值
                            code.getData(),    // 地面码
                            String.valueOf(direction),   // 动作参数
                            ActionTypeType.TurnCorner.val(),    // 动作类型
                            ActionStsType.PREPARE.val(),    // 动作进度
                            firstAction.getAgvId(),    // AGV
                            now    // 工作时间
                    );
                }

            }
        }

        List<Action> newActionList = new ArrayList<>();
        Date now = new Date();
        if (prependTurn != null) {
            prependTurn.setGroupId(actionGroupId);
            prependTurn.setCreateTime(now);
            prependTurn.setUpdateTime(now);
            newActionList.add(prependTurn);
        }
        for (Long actionId : actionIds) {
            sqlSession.clearCache();
            Action action = actionService.getById(actionId);